# kProfilePosition = 1,
# kProfileVelocity = 3,
# kProfileTorque   = 4,
# kHoming = 6,
# kInterpolatedPosition = 7,
# kCSPosition = 8,
# kCSVelocity = 9,
# kCSTorque = 10,
uint8 mode
float32 q
float32 dq
float32 tau
float32 kp
float32 kd
uint32[3] reserve